机器人学导论chapter5.pdfVIP

Introduction to Robotics, H. Harry Asada 1 Chapter 5 Differential Motion In the previous chapter, the position and orientation of the manipulator end-effecter were evaluated in relation to joint displacements. The jo int displacements corresponding to a given end-effecter location were obtained by solving the kinematic equation for the manipulator. This preliminary analysis permitted the robotic system to place the end-effecter at a specified location in space. In this chapter, we are concerned not only with the final location of the end-effecter, but also with the velocity at which the end-effecter moves. In order to move the end-effecter in a specified direction at a specified speed, it is necessary to coordinate the motion of the individual joints. The focus of this chapter is the development of fundamental methods for achieving such coordinated motion in multiple-joint robotic systems. As discussed in the previous chapter, the end-effecter position and orientation are directly related to the j oint displacements. Hence, in order to coordinate jo int motions, we derive the diff erential relationship between the jo int displacements and the end-effecter location, and then solve for the individual jo int motions. 5.1 Differential Relationship We begin by considering a two degree-of-freedom planar robot arm, as shown in Figure 5.1.1. The kinematic equations relating the end-effecter coordinates xe and y e to the joint displacements θ1 and θ2 are given by x (θ , θ ) cosθ + cos(θ +θ ) (5.1.1) e 1 2 1 1 2 1 2 y (θ , θ ) sinθ + sin(θ +θ ) (5.1.2) e 1 2 1 1 2 1 2